EP2611019B1 - Control apparatus for regenerative medium voltage inverter - Google Patents

Control apparatus for regenerative medium voltage inverter Download PDF

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Publication number
EP2611019B1
EP2611019B1 EP12198301.9A EP12198301A EP2611019B1 EP 2611019 B1 EP2611019 B1 EP 2611019B1 EP 12198301 A EP12198301 A EP 12198301A EP 2611019 B1 EP2611019 B1 EP 2611019B1
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Prior art keywords
voltage
power
phase
unit
magnitude
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German (de)
English (en)
French (fr)
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EP2611019A2 (en
EP2611019A3 (en
Inventor
Seungcheol Choi
Anno Yoo
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LS Electric Co Ltd
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LSIS Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/14—Arrangements for reducing ripples from dc input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
    • H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
    • H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
    • H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M5/4585—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/49—Combination of the output voltage waveforms of a plurality of converters

Definitions

  • the present invention provides a control apparatus for a regenerative medium voltage inverter according to claim 1. Preferred embodiments are defined in the dependent claims.
  • Publication EP 0 417 805 A1 discloses an example of a control method and device for an AC motor, when transforming output power of a converter to AC power by an inverter and controlling the AC motor with the AC power, a source current value is determined from the value of an electric variable in the input or output side of the inverter, and the converter is controlled in accordance with the source current value.
  • a medium voltage inverter is an inverter having an input power whose RMS (root mean square) value is over 600V for a line-to-line voltage, and is generally used to drive an industrial load of large inertia of, for a non-limiting example, fans, pumps and compressors.
  • variable speed operations frequently occur, where regenerative operations are generated, if a fast acceleration or a fast deceleration is required.
  • FIG.1 is a structural view of a series H-bridge medium voltage inverter system according to prior art, where the inverter system is configured with a two-stage unit power cells (120).
  • FIG.2 is a structural view illustrating a unit power cell of FIG.1 .
  • a phase switching transformer (110) converts a phase and a magnitude of a high voltage input power received from an input power unit (200) whose rms (root mean square) value is over 600V for a line-to-line voltage in response to requirements of the unit power cell (120).
  • An output of the phase switching transformer (110) becomes an input power of each unit power cell (120), and the unit power cell (120) combines input voltages and supplies a power to three-phase motor (300).
  • An 'a' phase voltage of a medium voltage inverter (100), a 'b' phase voltage of the inverter (100), and a 'c' phase voltage of the inverter (100) are a sum of output voltages of the unit power cell (120) relative to each phase.
  • a PLL (Phase Locked Loop, 121) of FIG.2 provides phase angle information of a required power, in case a three-phase stationary reference frame is converted to a two-phase stationary reference frame.
  • the angle information estimated by the PLL (121) is used for control of an entire system.
  • a DC (Direct Current) terminal capacitor (128) serves to solve a power imbalance at input/output terminals, where, in a case an input power supplied from a power side is greater than an output power consumed by a load, a DC terminal voltage increases, and in a reverse case, the DC terminal voltage decreases.
  • a voltage of the DC terminal capacitor (128) is controlled by a DC terminal voltage controller (124), and an output of the DC terminal voltage controller (124) becomes a q-axis current command of a current controller (125).
  • FIGS.3a and 3b are respectively detailed structural views of the DC terminal voltage controller (124), which may include an IP (Integral and Proportional) controller ( FIG.3a ) or a PI (Proportional Integral) controller ( FiG.3b ), both of which may be selectively used according to applied fields.
  • Outputs of FIG.-3a and FIG.3b may be expressed by the following Equations 1 and 2.
  • the current controller (125) controls d-axis and q-axis current of a synchronous reference frame, where a q-axis current component is defined as an active power current while a d-axis current component is defined as an inactive power current.
  • the current controller (125) may also control a power factor of an AC power source side.
  • the power factor may be expressed by the following Equation 3.
  • e dq e e d e + je q e
  • i dq e i d e + ji q e
  • e dq e ⁇ i dq e means an inner product of a voltage complex vector and a current complex vector of a power on a synchronous reference frame
  • e dq e ⁇ i dq e means a product of magnitude of each complex vector.
  • a d-axis current command on the synchronous reference frame for power factor control may be generated by the following Equation 4, using the above Equation 3.
  • i d e * i q e * 1 ⁇ PF * 2 PF *
  • FIG.4 is a detailed configurative view of the current controller of FIG.-2.
  • a coordinate converter (122) serves to convert an actual current measured by a current sensor to a synchronous reference frame.
  • the current controller (125) receives a command current calculated through the DC terminal voltage controller (124) and power factor control and calculates a voltage command using a PI controller and feed forward.
  • Outputs generated by each controller may be expressed by the following Equations.
  • the voltage commands generated by Equations 5 and 6 are converted to stationary reference frame for use as each phase of a PWM (Pulse Width Modulation) converter (127). That is, the voltage commands thus calculated are used by a gate signal generator (126). Conventionally, a space vector PWM method was used in the voltage modulation method.
  • PWM Pulse Width Modulation
  • FIG.-5 is a detailed configurative view of a gate signal generator of FIG.2 , which is realized by a space vector voltage modulation type, where comparison between an offset voltage and a triangular wave is explained.
  • the gate signal generator (126) is such that an offset voltage determinate (501) determines an adequate offset voltage based on a given phase voltage command where the offset voltage is realized by an average concept within a cycle of a voltage modulation. That is, a voltage command determining the switch is changed by how the offset voltage is determined from each phase voltage command.
  • the gate signal generator (126) generates a gate signal to combine voltages corresponding to voltage commands generated by the current controller (125).
  • An inverter (123) functions to perform a buffering between a power source supplied from a 3-phase power source (200) and an output power source of the PWM converter (127), whereby a DC-link output voltage of the PWM converter (127) is boosted.
  • the PWM converter (127) is a 3-phase booster formed with six power devices and capable of performing a bi-directional power flow. That is, the DC-link voltage can be controlled by a power source-side current control.
  • a DC-link capacitor (128) performs a cushioning function between the PWM converter (127) power and the inverter (129) power.
  • the voltage at the DC-link inverter (129), the inverter (129) being of a single phase full-bridge structure, has the following voltage ripples.
  • ⁇ is a load angle
  • ⁇ is an operational frequency
  • t is a time
  • V 0 and I 0 are RMS values of output voltage and output current.
  • the output powers of unit power cell (120) may be expressed using the Equations 10 and 11.
  • Equation 12 the output power of unit power cell (120) is divided into a DC component of V 0 I 0 cos ⁇ and an AC component of V 0 I 0 cos(2 ⁇ t - ⁇ ) , where the AC component has a ripple corresponding to twice the operational frequency, whereby a current flowing on the DC-link may be obtained by the following Equation 13.
  • Equations 12 and 13 It can be learned from Equations 12 and 13 that a ripple corresponding to twice the DC-link operational frequency is generated, and as magnitude of the output voltage and magnitude of output current increase, magnitude of ripple of DC-link power voltage increases.
  • a capacitance of a DC-link capacitor (128) of unit power cell (120) must be increased, which in turn increases volume and cost of an entire system, whereby reliability of the system is disadvantageously reduced.
  • the present disclosure is disclosed to solve the aforementioned problems and disadvantages, and the present disclosure provides a control apparatus for regenerative medium voltage inverter configured to reduce magnitude of ripple at a DC-link power voltage through an active voltage control of a unit power cell of the regenerative medium voltage inverter, whereby capacitance of a DC-link capacitor can be reduced.
  • a control apparatus for regenerative medium voltage inverter comprising: a converter unit configured to include a plurality of power devices, and convert a three-phase power to a DC voltage; a gate signal generating unit configured to output a PWM signal which is a switching signal of the plurality of power devices; a current controller configured to generate a voltage command from a current command and a measured current and apply the voltage command to the gate signal generating unit; and a generating unit configured to generate a voltage compensating a power difference between an input and an output of the converter unit, and provide the voltage to the current controller.
  • the apparatus further comprises a voltage controller configured to generate the current command of a synchronous reference frame using the voltage command and a measured voltage.
  • the apparatus further comprises a phase detecting unit configured to provide phase angle information of an input power; and a first coordinate converting unit configured to convert the input power from a stationary reference frame to the synchronous reference frame and provide the converted input power to the current controller.
  • a phase detecting unit configured to provide phase angle information of an input power
  • a first coordinate converting unit configured to convert the input power from a stationary reference frame to the synchronous reference frame and provide the converted input power to the current controller.
  • the generating unit comprises: a magnitude determining unit configured to determine a magnitude of a compensating voltage using a power difference between the input and the output of the converter unit; first and second phase determining units configured to determine a phase of the compensating voltage; and a second coordinate converting unit configured to convert the magnitude and phase-determined compensating voltage from the stationary reference frame to the synchronous reference frame.
  • the magnitude determining unit performs a proportional control and determines a magnitude of the compensating voltage according to the magnitude of gain of the proportional control.
  • the magnitude determining unit divides the power difference between the input and output of the converting unit by a magnitude of a power source- side current to determine a magnitude of the command voltage.
  • the first phase determining unit determines a phase by using a sine function.
  • the second phase determining unit determines a phase using a cosine function.
  • a control apparatus for regenerative medium voltage inverter configured to reduce a ripple of a DC-link voltage of a unit power cell combining outputs of a medium voltage inverter, the apparatus comprising: a power compensation voltage generating unit configured to control a switching of the converter unit by generating a voltage compensating a power difference between an input and an output of the converter unit.
  • the control apparatus for regenerative medium voltage inverter has an advantageous effect in that a ripple of a DC-link power voltage can be reduced and a ripple of a DC-link power voltage can be removed to miniaturize a DC-link capacitor by removing a power imbalance at the DC-link capacitor using an additional voltage calculated by a power compensating voltage generating unit.
  • FIGS. 1-7 of the drawings like numerals being used for like and corresponding parts of the various drawings.
  • Other features and advantages of the disclosed embodiments will be or will become apparent to one of ordinary skill in the art upon examination of the following figures and detailed description. It is intended that all such additional features and advantages be included within the scope of the disclosed embodiments, and protected by the accompanying drawings.
  • the illustrated figures are only exemplary and not intended to assert or imply any limitation with regard to the environment, architecture, or process in which different embodiments may be implemented. Accordingly, the described aspect is intended to embrace all such alterations, modifications, and variations that fall within the scope and novel idea of the present invention.
  • first a second constituent element
  • first constituent element a first constituent element without departing from the scope and spirit of the present disclosure
  • first constituent element may be denoted as a second constituent element.
  • the present disclosure proposes a new power cell control of a regenerative series H-bridge medium voltage inverter which is one of medium voltage inverters.
  • the power cell control proposed by the present disclosure is capable of performing a regenerative operation, power factor control of an input power source-side and a DC-link output voltage control.
  • the medium voltage inverter control according to the present disclosure limits a ripple of a DC-link power source voltage to relatively reduce a capacitance of a DC-link capacity, whereby volume and cost of an entire system can be saved.
  • FIG.6 is a structural view of a unit power cell in a control apparatus for regenerative medium voltage inverter system according to an exemplary embodiment of the present disclosure, where a conventional three-phase booster type PWM converter topology may be applied.
  • the unit power cell of FIG.6 may be applied to the inverter system of FIG.1 , applications to other inverter systems are not ruled out.
  • a regenerative medium voltage inverter (100) is an inverter that receives a voltage, whose RMS (root mean square) value is over 600V in line-to-line voltage, from an input power source (200) and supplies a three-phase power to a three-phase motor (300).
  • the motor (300) is an induction machine or a synchronous machine but is not limited thereto.
  • a phase shift transformer (110) serves to provide a galvanic insulation between the input power source (200) and the regenerative medium voltage inverter (100), to reduce harmonics of an input side (terminal), and improve a THD (Total Harmonic Distortion) of a power source current. Furthermore, the phase shift transformer (11) provides a three-phase power source to each power cell (120). The input filter (12) functions to reduce harmonics from the input side.
  • the unit power cell (120) receives the power from the phase switching transformer (110) and outputs phase voltages to the motor (300).
  • the phase voltages are combined (synthesized) as a sum of voltages of unit power cells of each phase.
  • 'a' phase output voltage of the medium voltage inverter (100) is a sum of output voltages of serially-connected unit power cells (120al, 120a2), an output voltage of 'b' phase and that of 'c' phase are respectively 120b1 and 120b2, and a sum of output voltages of 120cl and 120c2.
  • the combined 'a',' b', 'c' phase voltages are mutually apart with a 120° phase difference.
  • the present disclosure is not limited thereto, and the number of unit power cells may be changed as required, and a plurality of unit power cells can be included in response to an output voltage.
  • the present disclosure is to generate a voltage command for controlling a PWM converter unit of unit power cell in FIG.1 .
  • the unit power cell (120) according to the control apparatus for regenerative medium voltage inverter comprises a PLL (Phase Locked Loop, 11), a coordinate converting unit (12), an inverter (13), a DC-link voltage controller (14), a current controller (15), a gate signal generating unit (16), a PWM converter unit (17), a DC-link capacitor (18), an inverter unit (19) and a power compensation voltage generating unit (20).
  • PLL Phase Locked Loop
  • the PLL (11) provides phase angle information of an input power source inputted into the unit power cell (120).
  • the coordinate converting unit (12) converts a current on a three-phase stationary reference frame to a current on a synchronous reference frame.
  • the inverter (13) boosts a DC-link voltage, and improves a THD (Total Harmonic Distortion) of the current.
  • the DC-link voltage controller (14) generates d-axis and q-axis current commands on the synchronous reference frame, using a DC-link voltage command and a measured DC-link voltage.
  • the current controller (15) generates a voltage command from the current command received from the DC-link voltage controller (14) and measured actual current.
  • the gate signal generating unit (16) generates a switch signal of each power device at the PWM converter unit (17), and outputs a PWM signal.
  • the PWM converter unit (17), a control object of the present disclosure, converts the applied power source to a DC voltage, using the PWM signal of the gate signal generating unit (16).
  • the DC-link capacitor (18) is to solve the power imbalance at an input side (terminal) and an output side, and increases the DC-link voltage in a case an input power supplied from power source side is greater than an output power source consumed by a load, and alternatively decreases the DC-link voltage in a reverse case.
  • the inverter unit (19) is preferably a single phase full bridge inverter to generate an output voltage from the DC-link voltage of the DC-link capacitor (18) through power switches (19a ⁇ 19d).
  • the power compensation voltage generating unit (20) generates a voltage command to reduce a difference between an input and an output of the PWM converter unit (17), and provides the voltage command to the current controller (15).
  • FIG.7 is a detailed structural view illustrating a power compensating voltage generating unit of FIG.6 according to an exemplary embodiment of the present disclosure.
  • the power compensation voltage generating unit (20) comprises a magnitude determining unit (21), first and second phase determining units (22, 23) and a coordinate converting unit (24).
  • the magnitude determining unit (21) performs a proportional control for determining a magnitude of a compensation voltage from the difference between an input and an output of the PWM converter unit (17), and divides by the magnitude of the power source-side current to determine the magnitude of the compensation voltage.
  • the magnitude determining unit (21) can perform a proportional control, where the magnitude of the compensation voltage may be determined by the magnitude of proportional gain (k).
  • the first and second phase determining units (22, 23) determine a phase of the compensation voltage for power compensation.
  • the first phase determining unit (22) uses a sine function and the second phase determining unit (23) uses a cosine function to generate a voltage command for compensation voltage.
  • the coordinate converting unit (24) converts the voltage command to the compensation voltage determined by the first and second phase determining units (22, 23) from the stationary reference frame to the synchronous reference frame.
  • the unit power cell in the present disclosure is a configuration where the power compensation voltage generating unit (20) is added to the configuration of FIG.2 .
  • the power compensation voltage generating unit (20) controls a ripple of the DC-link power source voltage by adding a voltage for compensating a power difference between an input and an output of the PWM converter unit (17), to the output of the current controller (15).
  • the power difference between an input and an output of the PWM converter unit (17) is required, which can be directly obtained by calculating a power of the DC-link capacitor (18), or by calculating a power of an input side of the PWM converter unit (17) and a power of an output side of the inverter unit (19).
  • the power of the DC-link capacitor (18) may be determined by an equation on capacitor power as in the following Equation 14.
  • C is a capacitance of the DC-link capacitor (18)
  • v d is a DC-link voltage
  • v d 0 is an operating point of the DC-link voltage.
  • An input-side power and an output-side power may be obtained by the following Equations.
  • P in e a i a + e b i b + e c i c
  • P out v o i o
  • e a , e b , e c and i a , i b , i c are respectively input-side voltages and currents.
  • a difference between an input and an output may be selectively obtained, depending on system configuration, by calculation of power of the DC-link capacitor (18) or a direction calculation of a power between an input side of the PWM converter unit (17) and an output side of the inverter unit (19).
  • the power thus obtained determines the magnitude of the command voltage by performing, by the magnitude determining unit (21), the PI control, and dividing the magnitude of the power source-side current.
  • the first and second phase determining units (22, 23) determine phases of the command voltage whose magnitude is determined by the magnitude determining unit.
  • the following Equations 18 and 19 respectively represent phases determined by the first and second phase determining units (22, 23).
  • the voltage command determined by Equations 17, 18 and 19 is converted to the stationary reference frame by the coordinate converting unit (24) and added to an output voltage of the current controller (15).
  • the control apparatus for regenerative medium voltage inverter have an industrial applicability in that a power imbalance at a DC-link capacitor can be removed using an additional voltage calculated by a power compensation voltage generating unit (20), whereby capacitance of a DC-link capacitor can be miniaturized.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)
  • Rectifiers (AREA)
  • Dc-Dc Converters (AREA)
EP12198301.9A 2011-12-30 2012-12-20 Control apparatus for regenerative medium voltage inverter Active EP2611019B1 (en)

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CN103187881A (zh) 2013-07-03
US9054600B2 (en) 2015-06-09
CN103187881B (zh) 2015-07-15
JP2013141390A (ja) 2013-07-18
KR20130078380A (ko) 2013-07-10
JP5658224B2 (ja) 2015-01-21
US20130170256A1 (en) 2013-07-04
ES2749912T3 (es) 2020-03-24
KR101621994B1 (ko) 2016-05-17
EP2611019A2 (en) 2013-07-03
EP2611019A3 (en) 2017-11-22

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